Robot competition has become a research platform of multi-agent robot system with its unique dynamic and real-time characteristics. With humanoid robot as the hardware platform, a semi-autonomous robot's competition strategy system including communication subsystem, vision subsystem and decision-making subsystem is designed. Then, according to the motion characteristics of humanoid robot, the offensive and defensive strategy model is proposed, which includes the robot strategy strategies such as situation assessment and path planning. Finally, through concrete experiments, the stability of countermeasure decision system is proved.